Distributed Electro-Mechanical Coupling Effects in a Dielectric Elastomer Membrane Array

Background Dielectric elastomer (DE) transducers permit to efectively develop large-deformation, energy-efcient, and compliant mechatronic devices. By arranging many DE elements in an array-like confguration, a soft actuator/sensor system capable of cooperative features can be obtained. When many DE elements are densely packed onto a common elastic membrane, spatial coupling efects introduce electro-mechanical interactions among neighbors, which strongly afect the system actuation and sensing performance. To efectively design cooperative DE systems, those coupling efects must be systematically characterized and understood frst. Objective As a frst step towards the development of complex cooperative DE systems, in this work we present a systematic characterization of the spatial electro-mechanical interactions in a 1-by-3 array of silicone DEs. More specifcally, we investigate how the force and capacitance characteristics of each DE in the array change when its neighbors are subject to diferent types of mechanical or electrical loads. Force and capacitance are chosen for this investigation, since those quantities are directly tied to the DE actuation and sensing behaviors, respectively. Methods An electro-mechanical characterization procedure is implemented through a novel experimental setup, which is specifcally developed for testing soft DE arrays. The setup allows to investigate how the force and capacitance characteristics of each DE are afected by static deformations and/or electrical voltages applied to its nearby elements. Diferent combinations of electro-mechanical loads and DE neighbors are considered in an extensive experimental campaign. Results The conducted investigation shows the existence of strong electro-mechanical coupling efects among the diferent array elements. The interaction intensity depends on multiple parameters, such as the distance between active DEs or the amount of deformation/voltage applied to the neighbors, and provides essential information for the design of array actuators. In some cases, such coupling efects may lead to changes in force up to 9% compared to the reference confguration. A further coupling is also observed in the DE capacitive response, and opens up the possibility of implementing advanced and/or distributed self-sensing strategies in future applications. Conclusion By means of the conducted experiments, we clearly show that the actuation and sensing characteristics of each DE in the array are strongly infuenced by the electro-mechanical loading state of its neighbors. The coupling efects may signifcantly afect the overall cooperative system performance, if not properly accounted for during the design. In future works, the obtained results will allow developing cooperative DE systems which are robust to, and possibly take advantage of, such spatial coupling efects

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